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This paper presents periodic solutions for a quadrocopter maintaining a height around a position in space despite having lost a single, two opposing, or three propellers. In each case the control strategy consists of the quadrocopter spinning about a primary axis, fixed with respect to the vehicle, and tilting this axis for translational control. A linear,(More)
This paper presents a method allowing a quadrocopter with a rigidly attached racket to hit a ball towards a target. An algorithm is developed to generate an open loop trajectory guiding the vehicle to a predicted impact point - the prediction is done by integrating forward the current position and velocity estimates from a Kalman filter. By examining the(More)
This paper presents a method for enabling a fleet of circularly arranged quadrocopters to throw and catch balls with a net. Based on a first-principles model of the net forces, nominal inputs for all involved vehicles are derived for arbitrary target trajectories of the net. Two algorithms that generate open-loop trajectories for throwing and catching a(More)
The Flying Machine Arena is a platform for experiments and demonstrations with fleets of small flying vehicles. It utilizes a distributed, modular architecture linked by robust communication layers. An estimation and control framework along with built-in system protection components enable prototyping of new control systems concepts and implementation of(More)
An algorithm is proposed allowing for the rapid generation and evaluation of quadrocopter state interception trajectories. These trajectories are from arbitrary initial states to final states defined by the vehicle position, velocity and acceleration with a specified end of time. Sufficient criteria are then derived allowing trajectories to be tested for(More)
A method is presented for the rapid generation and feasibility verification of motion primitives for quadrocopters and similar multirotor vehicles. The motion primitives are defined by the quadrocopter's initial state, the desired motion duration, and any combination of components of the quadrocopter's position, velocity, and acceleration at the motion's(More)
A state estimator for a quadrocopter is presented, using measurements from an accelerometer, angular rate gyroscope, and a set of ultra-wideband ranging radios. The estimator uses an extended aerodynamic model for the quadrocopter, where the full 3D airspeed is observable through accelerometer measurements. The remaining quadrocopter states, including the(More)
An autonomous safety mechanism is presented, as implemented in an indoor flying vehicle research testbed. The safety mechanism relies on integration of onboard gyroscope measurements and thrust commands to estimate the vehicle state for short lengths of time. It is used in the case of loss of external control signal or loss of external measurement data, to(More)
This paper presents the “monospinner”: a mechanically simple flying vehicle with only one moving part. The vehicle is shown to be controllable in three translational degrees of freedom and two rotational degrees of freedom. The vehicle has a single scalar control input, the thrust magnitude, and is controlled by a cascaded control strategy(More)
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